Closed Skin Drive Mechanism Enables High Mobility on Rough Terrain with Origami Structure Track Belt

2023 Fiscal Year Final Research Report

• Project/Area Number: 21K14118
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Tohoku University
• Principal Investigator: Watanabe Masahiro 東北大学, タフ・サイバーフィジカルAI研究センター, 助教 (00823452)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: クローラ / 折り紙 / 索状体 / ソフトロボット

Outline of Final Research Achievements

The main achievement of our research period is the proposal and realization of a mechanism combining a novel origami structure with a continuous track belt. Specifically, we've clarified the design methodology and performance of a mechanism to effectively bend a origami tracked body. Furthermore, we established implementation methods for driving belts with multiple bending parts with minimal resistance, utilizing anti-friction rollers and pinch roller drive mechanisms. Additionally, we conducted mobility tests to measure the performance of the vehicle, such as propulsion speed and turning radius. Consequently, we have realized the concept of a snake-like mono-track that possesses functions beneficial for off-road travel, namely a theoretically perfect hermetic structure, non-sliding interaction with the environment, and selectable directionality.

Free Research Field

ソフトロボティクス

Academic Significance and Societal Importance of the Research Achievements

研究成果の学術的意義と社会的意義は、折り紙構造と履帯を組み合わせることで、三次元的に変形可能な新しい表面循環機構を提案し、その応用例として不整地移動体を示し、設計手法を明らかにしたことにある。この機構は、内部の駆動装置が袋状の履帯で包まれているため、原理上、防水・防塵構造を備え、ボディの上面・下面・側面との接触による摺動抵抗を低減可能で、移動の方向選択も可能である。これにより、複雑で劣悪な環境を走行する移動体への活用が期待される。